FR3120689B1 - PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE - Google Patents

PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE Download PDF

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Publication number
FR3120689B1
FR3120689B1 FR2102417A FR2102417A FR3120689B1 FR 3120689 B1 FR3120689 B1 FR 3120689B1 FR 2102417 A FR2102417 A FR 2102417A FR 2102417 A FR2102417 A FR 2102417A FR 3120689 B1 FR3120689 B1 FR 3120689B1
Authority
FR
France
Prior art keywords
navigation device
values
kinematic variables
navigation
uncertainty
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2102417A
Other languages
French (fr)
Other versions
FR3120689A1 (en
Inventor
Axel Barrau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran SA
Original Assignee
Safran SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Safran SA filed Critical Safran SA
Priority to FR2102417A priority Critical patent/FR3120689B1/en
Priority to CN202280029813.6A priority patent/CN117203493A/en
Priority to EP22713980.5A priority patent/EP4305383A1/en
Priority to PCT/FR2022/050442 priority patent/WO2022189760A1/en
Publication of FR3120689A1 publication Critical patent/FR3120689A1/en
Application granted granted Critical
Publication of FR3120689B1 publication Critical patent/FR3120689B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity

Abstract

Procédé, dispositif de navigation et produit programme d’ordinateur d’aide à la navigation d’un véhicule doté d’un dispositif de navigation comprenant les étapes suivantes acquisition de valeurs à priori de variables cinématiques du dispositif de navigation, détermination (202) de valeurs courantes respectives des variables cinématiques du dispositif de navigation et d’une matrice d’incertitude courante représentative d’une incertitude des valeurs courantes respectives des variables cinématiques, à partir de valeurs précédentes respectives des variables cinématiques, d’une matrice d’incertitude précédente représentative d’une incertitude des valeurs précédentes respectives des variables cinématiques et d’un modèle d’une gravité terrestre subie par le dispositif de navigation, la gravité modélisée étant croissante avec une altitude du dispositif de navigation. Figure pour l’abrégé : Fig. 2Method, navigation device and computer program product for aiding the navigation of a vehicle equipped with a navigation device comprising the following steps acquisition of a priori values of kinematic variables of the navigation device, determination (202) of respective current values of the kinematic variables of the navigation device and of a current uncertainty matrix representative of an uncertainty of the respective current values of the kinematic variables, from respective previous values of the kinematic variables, of a previous uncertainty matrix representative of an uncertainty of the respective preceding values of the kinematic variables and of a model of a terrestrial gravity undergone by the navigation device, the modeled gravity increasing with an altitude of the navigation device. Figure for the abstract: Fig. 2

FR2102417A 2021-03-11 2021-03-11 PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE Active FR3120689B1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR2102417A FR3120689B1 (en) 2021-03-11 2021-03-11 PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE
CN202280029813.6A CN117203493A (en) 2021-03-11 2022-03-11 Method for assisting navigation of vehicle
EP22713980.5A EP4305383A1 (en) 2021-03-11 2022-03-11 Method for assisting with the navigation of a vehicle
PCT/FR2022/050442 WO2022189760A1 (en) 2021-03-11 2022-03-11 Method for assisting with the navigation of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2102417A FR3120689B1 (en) 2021-03-11 2021-03-11 PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE
FR2102417 2021-03-11

Publications (2)

Publication Number Publication Date
FR3120689A1 FR3120689A1 (en) 2022-09-16
FR3120689B1 true FR3120689B1 (en) 2023-03-31

Family

ID=76283860

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2102417A Active FR3120689B1 (en) 2021-03-11 2021-03-11 PROCEDURE FOR AIDING THE NAVIGATION OF A VEHICLE

Country Status (4)

Country Link
EP (1) EP4305383A1 (en)
CN (1) CN117203493A (en)
FR (1) FR3120689B1 (en)
WO (1) WO2022189760A1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060074558A1 (en) * 2003-11-26 2006-04-06 Williamson Walton R Fault-tolerant system, apparatus and method
GB2555806A (en) * 2016-11-09 2018-05-16 Atlantic Inertial Systems Ltd A navigation system

Also Published As

Publication number Publication date
CN117203493A (en) 2023-12-08
FR3120689A1 (en) 2022-09-16
EP4305383A1 (en) 2024-01-17
WO2022189760A1 (en) 2022-09-15

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